Demonstrations improve the efficiency of self-supervised practice. We have seen that self-supervised practice improves performance over LFP in simulation. The benefits of this approach were also demonstrated by [1]}. Here we assess the effect of demonstrations on performance by running an ablation study with 0, 10, 100, and 1000 demonstrations as shown in Figures REF  and REF . The special case of 0 demonstrations corresponds to GCSL.
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